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305 Commits

Author SHA1 Message Date
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin. 
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
 2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order. 
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
 2023-12-04 08:31:45 -08:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -08:00
Yuval Tassa 51d80564fa Don't initialize plugins during model compilation. 
PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
 2023-11-27 11:01:08 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Yuval Tassa cd56a41f83 Fix bug in Cartesian actuation with movable refsite. 
PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
 2023-11-20 08:37:29 -08:00
Alessio Quaglino 4014196c6c Add pin to flex golden data. 
Also reduce slightly the resolution of the models to make comparing golden data more readable.

PiperOrigin-RevId: 582990641
Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
 2023-11-16 04:14:58 -08:00
Nimrod Gileadi 97ad543051 Test-only change: Don't update actuator_force in Advance in TestActuator. 
Actuators update actuator_force in compute and not in advance.

PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
 2023-11-13 09:11:42 -08:00
Alessio Quaglino 9ae40e718e Define mj_multiRay bindings explicitly. 
Fixes #1184.

PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
 2023-11-13 07:31:22 -08:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Yuval Tassa 86d9c84e59 Fix bug in implementation of torquescale 
PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
 2023-10-28 08:25:25 -07:00
Nimrod Gileadi f8c5ad2ba8 Check for errors when calling std::stod in XML loading. 
PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
 2023-10-25 12:26:43 -07:00
Alessio Quaglino 034bb62986 Add cam_intrinsic to mjvSceneState. 
Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
 2023-10-25 10:17:42 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Alessio Quaglino 83515446b6 Add missing models to all_models and all_test_models. 
PiperOrigin-RevId: 574491634
Change-Id: I943043b21056d7f22dd1c50454deee3f49e7eac0
 2023-10-18 08:59:54 -07:00
Yuval Tassa 3c6b573f78 Add flex model to test/testdata 
PiperOrigin-RevId: 574431067
Change-Id: Ide06b145afeca5df80acfc05e290e7bc54786a8e
 2023-10-18 04:11:46 -07:00
Nimrod Gileadi 393cfec1e8 Don't use PluginTest as the fixture name in xml_native_writer_test 
PiperOrigin-RevId: 574129298
Change-Id: I8c3e10bf271d54cb414b8d2af3724d8c81b6fc80
 2023-10-17 06:32:37 -07:00
Alessio Quaglino d67b8c6251 Add membrane plugin (2D Flex elastic stiffness). 
PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
 2023-10-17 04:55:33 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa d88675a034 Change the default of <compiler autolimits> from "false" to "true". 
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
 2023-10-13 05:05:24 -07:00
Yuval Tassa 493ae95d69 Add stack leak test to WriteReadCompare 
PiperOrigin-RevId: 572953669
Change-Id: Id6cad3fc86777d68f218119f67c9dc473bdcfcc8
 2023-10-12 10:53:24 -07:00
Alessio Quaglino 6f8128dc6a Fix benchmark label for plugin flag test. 
PiperOrigin-RevId: 572891541
Change-Id: I442e31f7e4164789759be0d2c71275fdb1398955
 2023-10-12 06:53:38 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Matthew Bennice 2842245ca9 Multithread parallelizable operations in mj_fwdPosition 
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
 2023-10-11 08:01:53 -07:00
Nimrod Gileadi cd06629a92 Give the test fixture a local name in elasticity_test. 
PiperOrigin-RevId: 571900967
Change-Id: Ie9bfea00dff1f9068f7fb3bf426dcbf6bfd6b4d2
 2023-10-09 04:35:00 -07:00
Alessio Quaglino 77d0400733 Accelerate inertia computation for simple bodies. 
PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
 2023-10-06 12:51:14 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa 22fab04c02 Add keyframe to golden data test model, start simulation from that keyframe. 
0. Keyframe was generated by simulating passively for 64 timesteps and then saving from `simulate`.
1. This makes forward.data much more informative. There are more contacts, velocities are not 0.
2. Added non-zero controls to forward.data.
3. 70 timesteps is a lot to integrate, things can change a lot. Since we now start at time = 0.128 = after 64 steps of passive simulation, we continue to integrate for only 6 timesteps.

PiperOrigin-RevId: 570966233
Change-Id: I9538aa44619393ff05ed8c3177e73993e222150a
 2023-10-05 03:52:57 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Saran Tunyasuvunakool 8ed321d469 Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section. 
PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
 2023-09-27 11:32:10 -07:00
Matthew Bennice 0dfeedb320 fix open source build failure by switching C's _Alignof for C++'s alignof 
PiperOrigin-RevId: 568400917
Change-Id: I90eff5e149d491f181370d72e43fdee9d4a3a20e
 2023-09-25 20:43:59 -07:00
Matthew Bennice ff4158efff Modify memory allocation in MuJoCo to be thread safe: 
1) protect mj_arenaAllocBytes with mutexes
2) create shards for each thread in the stack and update mj_stackAllocBytes to allocate memory within each shard for a given thread

PiperOrigin-RevId: 568315726
Change-Id: I0dee6694f2a5200fa4df22ade0e68dfaebf637fc
 2023-09-25 13:53:28 -07:00
Alessio Quaglino d3d46e16a4 Remove cloth and rope composites and deprecate loop. 
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
 2023-09-25 03:38:43 -07:00
Matthew Bennice 7f8018a3f3 Update XML parsing to store asset path so that assets can be recovered and sent to external renderers 
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
 2023-09-21 10:27:52 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin. 
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
 2023-09-20 09:00:20 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Yuval Tassa 2cc1205498 Add island support to CG solver. 
BEGIN_PUBLIC

Add island support to CG solver.

END_PUBLIC

PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
 2023-09-15 05:47:24 -07:00
Alessio Quaglino 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. 
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW

PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
 2023-09-14 06:42:42 -07:00
Alessio Quaglino b0abafe3bb Set camera origin at top-left of the first pixel. 
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
 2023-09-12 10:44:51 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Yuval Tassa 2b192cebb6 PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1. 
This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.

PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
 2023-09-11 11:09:53 -07:00
Saran Tunyasuvunakool 78183e60e1 Refactor thread pool implementation. 
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.

Otherwise the functionality remains identical.

PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
 2023-09-11 07:20:34 -07:00
Matthew Bennice 0ba10cc4f0 Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat} 
Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
 2023-09-10 15:25:59 -07:00
Saran Tunyasuvunakool a07e172770 Make MuJoCo work with -fsanitize=alignment. 
PiperOrigin-RevId: 563702045
Change-Id: Ieca69595b7e2fc1e35ca69754d7cc7971825f48b
 2023-09-08 03:29:34 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00